CN112236269B - Semi-automatic precision positioning robot device and method - Google Patents

Abstract

Improved positioning systems suitable for force and size sensitive applications include assisting in the assembly of heart valves and/or other medical devices in a manner that reduces the time and effort required to manufacture the device, and reduces the potential for operator stress and injury, while maintaining or enhancing the quality and reliability of the manufacturing process and/or device.

Description

Semi-automatic precision positioning robot device and method

This application claims the benefit of U.S. Provisional Application No. 62/622014, filed on January 25, 2018, the contents of which are incorporated herein by reference in their entirety.

Field of the Invention

The present embodiments generally relate to positioning systems for holding and positioning workpieces. While the present embodiments may find wide application in a variety of industries, specific embodiments relate to apparatus for assisting in assembling components of a fabric-covered prosthetic heart valve, and related methods.

Background technique

Manufacturing processes involving human involvement often suffer from quality control problems due to human error. Manufacturing processes involving human involvement also often cause stress and even injury to operators. These quality control, stress, and/or injury problems are significant due to fatigue in manufacturing processes that require continuous concentration and manual dexterity. Therefore, there is often a desire to reduce human intervention and automate the manufacturing process. The automation of many manufacturing processes is not easy. For example, mechanical positioning systems for holding and positioning workpieces are used for multiple applications in various fields, such as manufacturing, machining, and assembly. Such positioning systems typically require a considerable degree of operability and high-precision positioning of the workpiece to obtain the quality level expected for each workpiece.

Summary of the invention

One aspect of the present disclosure relates to a semi-automatic precision positioning robotic apparatus and method for holding, positioning, orienting and/or moving a workpiece. The positioning apparatus includes a support frame or casing, which may be a separate structure, thereby allowing the positioning apparatus to be a self-contained unit, or the casing may be embedded in another structure or surface. In some embodiments, a vacuum may be integrated into the casing to help extract and contain any particulates or noxious fumes emitted during the manufacturing or working process.

Embodiments of positioning equipment utilize multiple linear actuators to position and orient a workpiece. Multiple linear actuators may be attached to a support frame or housing in any suitable manner, including fixing multiple actuators between frame pillars and/or to a frame base. Multiple linear actuators include multiple sliding tracks and multiple slidable bases that move along the multiple sliding tracks. Multiple slidable bases may have at least one movable platform receiving slot that allows the connecting portion of the movable platform to travel on a route defined by the slot. Multiple linear actuators may be actuated to hold, position, orient, and move the workpiece by manipulating the positioning and orientation of the workpiece holding unit. Multiple linear actuators may be actuated individually or in combination with each other to raise or lower the workpiece holding unit, and to move the workpiece holding unit side to side. Various embodiments may vary in the type and quantity of the actuators used.

The positioning apparatus may include a gear system that allows for further manipulation of the positioning and orientation of the workpiece holding unit. The gear system includes a plurality of gear chains. The gear chain may include a rotary actuator coupled to the movable platform. The rotary actuator may rotate a gear shaft, which in an embodiment has a worm gear at an end. As the gear shaft rotates, the worm gear rotates, which in turn may drive a worm gear. Coupled to each worm gear may be a bevel gear that rotates as the worm gear is driven. The gear system may include a workpiece holding unit bevel gear that is coupled to a bevel gear of a single gear chain of the plurality of gear chains. The plurality of gear chains may be driven so that the bevel gears rotate in the same direction, causing the workpiece holding unit to rotate about the axis as the workpiece holding unit bevel gears (which are coupled to the bevel gears) orbit around an axis along a path determined by the rotation of the bevel gears. Multiple interlocking gear chains can also be driven to rotate the bevel gears in opposite directions (e.g., one clockwise and the other counterclockwise), thereby rotating the workpiece holding unit around an axis defined by a line perpendicular to the axis and traveling through the center of the workpiece holding unit bevel gear as the workpiece holding unit bevel gear (which is coupled to the bevel gear) rotates in an appropriate position relative to the axis. Various embodiments can vary in the type and number of components used, as well as their configuration, as desired. For example, in some embodiments, the gears can be bevel gears, planetary gears, or other similar types of gears. In some embodiments, the system can include (e.g., micro) drive belts, (e.g., precision) chains, sprockets, and/or other components.

The positioning apparatus may include a tool mounted in a position that allows the tool to interact with the workpiece. The tool includes a tool rotation actuator configured to facilitate various possible contact angles between the tool and the workpiece.

Positioning equipment establishes a coordinate system, thereby facilitating the positioning and orientation of workpieces and tools according to defined coordinates.

For applications requiring human supervision and/or other applications, the positioning device may include a camera for monitoring work, and the camera may be configured to be viewed remotely by an off-site supervisor, for example, via an operably coupled computer.

The various components of the positioning device may be selectively controlled by an external controller.

The positioning device can be used in a variety of different applications, such as the manufacture of various mechanical and electronic products and components; the manufacture and production of fine jewelry; and welding, cutting, and assembly processes. Specific embodiments of the positioning device can be used in conjunction with the manufacture of medical devices, such as, for example, including sewing materials to a prosthetic valve.

For embodiments of positioning devices for manufacturing medical devices (including sewing materials to prosthetic valves), the positioning device can use a needle guide as a tool, including a needle guide rotary actuator, a guide structure, and a sewing needle. A tensioning device that combines suture capture and release can also be provided to keep the line (substantially) stationary and taut, or have a desired amount of tension, which can assist in creating appropriate stitches and avoid tangling of the line. The tensioning device can be a magnetic assembly, for example, a spring assembly, and/or can include other devices. In some embodiments, the tensioning device includes a tensioning device base and a magnetic head. The operator can use the tensioning device by placing a section of the line behind the tensioning device (relative to the valve base structure), inserting the section of the line between the tensioning device base and the magnetic head, and then tightening the line. The operator can release the tension on the line by pulling on the line with sufficient force as long as he wishes to allow the line to move to the other side of the tensioning device between the tensioning device base and the magnetic head. The magnetic strength of the head can be adjusted to determine the amount of force required to allow the line to move in this manner, thereby allowing the operator to obtain various levels of tension. The head can be maintained in the correct position (i.e., in a position where the head maintains a magnetic connection with the appropriate portion of the tensioner base, rather than being displaced to a position that renders the tensioner inoperable) by any number of suitable devices, including an anti-displacement lip or anti-displacement cavity on the tensioner base that allows sufficient range of movement of the head to allow the line to pass between the head and the tensioner base, but limits the range of movement so that the head cannot completely leave the anti-displacement cavity. The structural arrangement of the tensioner facilitates effective and precise tensioning required for a particular stitch or suture.

These and other objects, features, and characteristics of the apparatus or method disclosed herein, as well as the method of operation and the function and economy of manufacture of the combination of related elements and parts of the structure will become more apparent when considering the description and the appended claims with reference to the accompanying drawings, all of which form a part of the specification, wherein like reference numerals indicate corresponding parts in the various figures. However, it is to be clearly understood that the drawings are for illustration and description purposes only and are not intended as limitations or definitions of the present disclosure. As used in the specification and in the claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of one embodiment of a robotic positioning apparatus.

2 is a top view of one embodiment of the robotic positioning apparatus with the cover of the support frame removed.

3 is a perspective view of one embodiment of the robotic positioning apparatus with a cover of the support frame removed.

4 is a partial perspective view of one embodiment of the robotic positioning apparatus with the cover of the support frame removed and the gear system exposed.

5 is a perspective view of one embodiment of a gear system and workpiece holding unit of a robotic positioning apparatus.

6 is a top cross-sectional view of one embodiment of a gear system and workpiece holding unit of a robotic positioning apparatus.

7 is a close-up perspective view of a specific application of one embodiment of the robotic positioning apparatus.

8 is a close-up perspective view of a tool portion of a specific implementation of one embodiment of the robotic positioning apparatus.

FIG. 9 is a perspective view of a detailed application of one embodiment of a robotic positioning apparatus in a possible installation context.

FIG. 10 is a schematic diagram of the robot positioning device.

FIG. 11 illustrates a method for assembling and/or using the present robotic positioning apparatus.

FIG. 12A illustrates a perspective view of an embodiment of the present robotic positioning apparatus.

FIG. 12B illustrates a top view of the embodiment of the present robotic positioning apparatus illustrated in FIG. 12A .

Detailed ways

The following description teaches the best mode of the present invention through various embodiments. For the purpose of teaching the present invention away from, some conventional aspects of the following embodiments may be simplified or omitted. Further, it will be appreciated by those skilled in the art that the features described below may be replaced and/or combined in various ways to form multiple variations of embodiments of the present invention. As a result, the present invention is not limited to the specific examples and embodiments described below.

As a brief introduction, in order to achieve a wide range of work positioning, the positioning system can use multiple actuators in a given configuration. The actuators can be actuated individually or collectively to position the components used to hold the workpiece. The actuators can use gear systems to transform the action of the actuators in various ways. The number of actuators, the selected configuration, and the presence of any additional components (such as gear systems) can affect the degree of operability.

However, complex actuator systems often have relatively large cumulative (motion) tolerances, resulting in reduced positioning precision, reduced stability, and/or other effects. Typical prior art positioning systems that employ complex actuator systems in order to achieve a higher degree of operability often suffer from such reduced precision and reduced stability. Current positioning systems also often lack the required level of rigidity. For example, smaller systems often do not have sufficient rigidity to maintain a desired (e.g., workpiece) positioning when forces are applied to the workpiece (e.g., when a user manipulates the workpiece as part of a manufacturing process). Larger systems may have the necessary rigidity, but larger motors and increased mass make these larger systems difficult or impossible to use in smaller scale applications (e.g., for manufacturing medical devices, etc.).

Thus, typical prior art positioning systems are usually unsuitable for more sensitive applications or applications that require precise positioning on a small scale. This is even more significant when operability and precise positioning must be repeatable, reliable and consistent. An example of relatively sensitive applications relates to the manufacture and assembly of medical devices. Considering the consequences of any defects in such products, an acceptable error range is narrow in the manufacture of medical devices. This is especially true for surgical implants and/or other products. As a result, the manufacture of surgical implants is often subject to strict quality control standards and involves complex assembly procedures and considerations.

As an example, it is known that the manufacture of fabric-covered medical devices, including but not limited to heart valves or abdominal aortic aneurysm (AAA) vascular grafts, is an intricate process that requires precision and consistency with a low acceptable error margin. Conventionally, the manufacture of fabric-covered medical devices (such as AAA devices) is accomplished using manual labor by hand-sewing (with needle and thread) cloth and/or animal tissue to a metal stent. The typical assembly process of a fabric-covered medical device occurs in two stages. During the first stage, intermittent stitches are placed to secure the fabric around a support component (such as a stent) in its rough position. In the second stage, stitches of closely-spaced threads are applied to complete the seam while maintaining a certain degree of tension on the fabric. The procedure requires needles and threads to pass through multiple layers of fabric, and sometimes through biological tissue, with precision and consistency. The procedure is manually intensive for the operator and can cause high levels of stress and/or injury (e.g., carpal tunnel-related injury) to the operator. The manual sewing process is repetitive, and therefore, the operator frequently suffers from repetitive motion injuries (thereby resulting in increased costs associated with the treatment of such injuries to their employer). The fabric is typically tightly fitted around the support assembly and the stitches are placed individually. The unusual shapes and varying sizes of medical devices contribute to the difficulty of assembly. Typical prior art positioning systems do not provide the precision and stability necessary to meaningfully assist in this and other assembly procedures.

There is a need for an improved positioning system suitable for force and dimension sensitive applications, including assisting in the assembly of heart valves and/or other medical devices in a manner that reduces the time and effort required to manufacture the device and reduces the potential for operator stress and injury, while maintaining or enhancing the quality and reliability of the manufacturing process and/or device.

FIG1 shows an exemplary positioning device 10. Device 10 is an improved positioning device suitable for force and size sensitive applications, including assisting in the assembly of heart valves and/or other medical devices in a manner that reduces the time and effort required to manufacture the device and reduces the potential for operator stress and injury, while maintaining or enhancing the quality and reliability of the manufacturing process and or the device. In device 10, the inclusion and/or novel arrangement of various components described herein facilitates precision movement and stability, and also helps reduce operator stress and the potential for injury.

The device 10 includes a support frame 20. The support frame 20 includes a frame base 22, a frame cover 24, a first group of frame pillars 26, a second group of frame pillars 28, and/or other components. In some embodiments, the support frame 20 can be an independent structure, thereby allowing the positioning device 10 to become an independent device. In some embodiments, the support frame 20 can be embedded in another structure or surface (such as a countertop, a workbench, or a wall), or the positioning device 10 can be directly built into such a structure and surface. In some embodiments, a vacuum device (not shown in Figure 1) can be integrated in the frame 20 to promote suction and/or contain particles or harmful fumes emitted during the manufacturing process, for example. This vacuum device system can promote a clean and hygienic working environment, which is desirable in sensitive applications and those involving human operators. In some embodiments, the frame 20 can surround and/or surround other components of the device 10. In some embodiments, the frame 20 can provide anchor points and/or other attachment points for the fixed or removable coupling of other components of the device 10.

In some embodiments, the frame 20 may include brackets, nuts, bolts, screws, and/or other components configured to couple various components of the frame 20. The frame 20 may be formed of metal (e.g., aluminum, steel, etc.), polymers, ceramics, and/or other materials. For example, in some embodiments, the base 22, cover 24, pillars 26, pillars 28, and/or other components of the frame 20 may be formed of aluminum, steel, and/or other materials. As another example, a single component may have an oxide layer, a polymer and/or other coating, and/or other features. In some embodiments, the frame 20 may have a generally rectangular shape and/or other shapes. In some embodiments, the frame 20 may have a length 21. In some embodiments, the frame 20 may have a height 23. In some embodiments, the material, shape, size, and/or other characteristics of the frame 20 and/or components of the frame 20 may be configured to enhance the weight and/or stability of the frame 20.

As shown in Figure 2, fixedly attached to the support frame 20 are a plurality of linear actuators 30. For example, the linear actuators 30 may be and/or include a Toothed Belt Axis ECG-50-TB-KF linear actuator and/or other components from Festo Corporation. The plurality of linear actuators 30 may be fixed between the first set of frame struts 26 and the second set of frame struts 28, attached to the frame base 22, and/or positioned in any other manner to fix the plurality of linear actuators 30 within the support frame 20. The plurality of linear actuators 30 include a plurality of sliding rails 32 and a plurality of slidable bases 34 that move along the plurality of sliding rails 32. It should be understood that any suitable type of linear actuator may be utilized. The plurality of linear actuators 30 may be actuated by any means (pneumatically, electrically, hydraulically, by servo drive, etc.). In some embodiments, the device 10 includes a pair of slidable bases 34, wherein the first slidable base 39 is positioned toward the first end 41 of the frame 20, and the second slidable base 43 is positioned toward the second end 45 of the frame 20. In some embodiments, substrates 39 and 43 are positioned on opposite sides of workpiece holding unit 70 along an x-axis 47 of apparatus 10 extending from end 41 to end 45 .

As shown in FIG. 3 , the plurality of slidable bases 34 have at least one movable platform receiving slot 36 that allows a connection portion of the movable platform 40 (e.g., wheels 63 and/or other connection portions as shown in the example of FIG. 3 ) to travel on a path defined by the at least one movable platform receiving slot 36. The slot 36 may be formed in or by an angled portion 35 of the slidable base 34. In some embodiments, a single slidable base 34 includes two angled portions 35 formed on opposite sides of the single base 34. For example, as shown in FIG. 3 , the slidable base 34 includes an angled portion 35 positioned toward one side 51 of the frame 20 and another angled portion 35 positioned toward an opposite side 53 of the frame 20 (along the y-axis 61 of the device 10). In some embodiments, the device 10 includes four slots 36, one of which is formed in each of the four individual angled portions 35 of the slidable base 34. In some embodiments, the slot 36 extends along the angled portion 35 from a location of the angled portion 35 positioned toward the bottom plate 22, in a direction away from the bottom plate 22 toward the end 41 (base 39) or 45 (base 43), along the x-axis 47 and along the z-axis 49. In some embodiments, the angled portion 35 and/or the slot 36 can form an angle 37 relative to the bottom plate 22.

The positioning apparatus 10 can be used to hold, position, orient, and/or move a workpiece 90 by manipulating the position and orientation of the workpiece holding unit 70. The plurality of linear actuators 30 can be actuated to raise or lower (in conjunction with the slots 36) the workpiece holding unit 70 (i.e., to translate the workpiece holding unit 70 along the z-axis 49), creating one degree of freedom. The linear actuators 30 can also be actuated to move the workpiece holding unit 70 from one side to the other (i.e., to translate the workpiece holding unit 70 along the x-axis 47), adding an additional degree of freedom, thereby combining two degrees of freedom.

For example, one embodiment of the positioning apparatus 10 can be set in a position that can be referred to as a neutral position, in which the workpiece holding unit 70 is centered along the Z (49) and X (47) axes. As described above, two slidable bases 34 can be used, each having two movable platform receiving slots 36. The movable platform receiving slots 36 of the slidable base 34 near the first set of frame posts 26 (e.g., end 45) can be angled (e.g., as described above) to set a path that travels away from the first set of frame posts 26 (end 45) toward the second set of frame posts 28 (e.g., along the x-axis 47 toward the end 41), and away from the frame cover 24 (Figure 1) toward the frame base 22 (e.g., along the z-axis 49). The movable platform receiving slots 36 of the slidable base 34 near the second set of frame posts 28 (e.g., end 41) can be angled to set a path that travels away from the frame cover 24 toward the frame base 22 (e.g., along the z-axis 49) as it travels away from the second set of frame posts 28 (end 41) toward the first set of frame posts 26 (e.g., along the x-axis 47 toward the end 45). In this configuration illustrated in FIG. 3 , the workpiece holding unit 70 can be raised along the z-axis 49 by actuating the plurality of linear actuators 30 toward each other so that the movable platform 40 travels toward the frame cover 24 along the path set by the movable platform receiving slots 36. The workpiece holding unit 70 can be lowered along the z-axis 49 by actuating the plurality of linear actuators 30 away from each other so that the movable platform 40 travels toward the frame base 22 along the path set by the movable platform receiving slots 36. In some embodiments, a typical translation along the z-axis 49 can be on the order of millimeters, centimeters, or greater. The workpiece holding unit 70 may be translated along the x-axis 47 by actuating the plurality of linear actuators 30 in the same direction such that the movable platform 40 does not travel along the path set by the movable platform receiving slots 36 .

It should be understood that different embodiments may vary in the type, quantity, and/or orientation of components (e.g., actuators, slide rails, slidable bases, movable platform receiving slots) used. Although the exemplary positioning device 10 shown in FIG. 3 uses two linear actuators, two slide rails, two slidable bases, and a given slot orientation, it should be understood that this configuration is illustrated for exemplary purposes only, and any suitable type, quantity, and/or orientation of these components may be used.

4 and 5 illustrate a gear system 50 configured to facilitate further manipulation of the positioning and orientation of the workpiece holding unit 70. The gear system 50 includes a plurality of interlocking gear trains 55. (E.g., each) interlocking gear train 55 may include a rotary actuator 60 attached to the movable platform 40. The rotary actuator 60 may be and/or include, for example, a Rotary Drive ERMO-12-ST-E from Festo Corporation and/or other components. The rotary actuator 60 may be and/or include, for example, one or more metal gears and/or other components having a 20 degree pressure angle circular hole (48 pitch, 18 teeth-McMaster Carr part number 7880K190). It should be understood that any suitable type of rotary actuator may be utilized. The rotary actuator 60 may then rotate (drive) one end of a gear shaft 62, which may have a worm gear 64 located on the opposite end. For example, the gear shaft 62 can be and/or include a linear action shaft, 1055 carbon steel, 8 mm diameter, 200 mm length (McMaster Carr part number 6112K44), and/or other components. For example, the worm gear 64 can be and/or include a W Worm, Kyouiku Gear, W80SUR1+B from Misumi USA, and/or other components. The single gear shaft 62 can include a gear 71 configured to engage the rotary actuator 60. The gear(s) 71 can be located at or near the end of the gear shaft 62 facing the movable platform 40. For example, the gear 71 can be and/or include a metal gear and/or other components with a 20 degree pressure angle circular hole (48 pitch, 24 teeth - McMaster Carr part number 7880K210). The single gear shaft 62 can be positioned along the z-axis 49 and extend from the movable platform 40 in a direction away from the base plate 22 along the z-axis 49. When the gear shaft 62 rotates, the worm wheel 64 rotates, which in turn can drive the worm gear 66. For example, the worm gear 66 can be and/or include Worm Wheels, G Series, Kyouiku Gear, G80A20+R1 from Misumi USA, and/or other components. Coupled to the single worm gear 66 can be a bevel gear 68 (where the single bevel gear 68 is engaged with the single worm gear 66), which rotates as the worm gear 66 is driven. For example, the bevel gear 68 can be and/or include Ground Tooth Spiral Miter SMSG1-20RJ6 from Misumi USA and/or other components. It should be understood that the interlocking gear chain 55 can be any combination and configuration of components and gears of the bevel gear 68 that ultimately drives the interlocking gear chain 55. The gear system 50 can further include a workpiece holding unit bevel gear 72, which is coupled to the bevel gear 68 of each of the plurality of interlocking gear chains 55. For example, the bevel gear 72 may be and/or include a Ground Tooth Spiral Miter SMSG1-20LJ6 and/or other components from Misumi USA.

As shown in FIG5 , in some embodiments, worm gear(s) 64 may be positioned along z-axis 49, generally parallel to gear shaft(s) 62. Worm gear(s) 66, bevel gear 68, and/or other components may be positioned along y-axis 61, generally perpendicular to gear shaft(s) 62. Bevel gear 72, workpiece holding unit 70, workpiece 90, and/or other components may be positioned along x-axis 47, generally perpendicular to gear shaft(s) 62 and both bevel gear 68 and worm gear 66. It should be noted that these components are configured to rotate in various directions, and the arrangement and positioning shown in FIG5 is only one example.

FIG. 6 illustrates one possible arrangement of the worm gear (s) 64, worm gear 66, and bevel gear 68 assembly of multiple interlocking gear trains 55 and the coupled workpiece holding unit bevel gear 72. By driving multiple interlocking gear trains 55 so that the bevel gears 68 rotate in the same direction, rotation of the workpiece holding unit 70 about the x-axis 47 (in this example) is achieved as the workpiece holding unit bevel gears 72 coupled to the bevel gears 68 travel along a path determined by the rotation of the bevel gears 68 about the x-axis. This adds an additional degree of freedom, for a total of three degrees of freedom. By driving multiple interlocking gear trains 55 so that the bevel gears 68 rotate in opposite directions (e.g., one clockwise and the other counterclockwise), rotation of the workpiece holding unit 70 about an axis defined by a line perpendicular to the x-axis and running through the center of the workpiece holding unit bevel gears 72 is achieved as the workpiece holding unit bevel gears 72 coupled to the bevel gears 68 rotate in an appropriate position relative to the x-axis. This adds another degree of freedom, for a total of four degrees of freedom.

It should be understood that, as desired, alternative embodiments may vary in the type and quantity of gears used, as well as their configuration. For example, in alternative embodiments, the gears may be bevel gears, planetary gears, or other similar types of gears. Multiple interlocking gear chains and their rotary actuators may be selectively actuated by an external controller. The controller may be any suitable type of controller, such as, for example, a programmable logic controller. In some embodiments, the gears may be replaced by one or more (e.g., micro) transmission belts, (e.g., precision) chains, sprockets, and/or other components. Using these alternatives or a combination of gears and these alternatives may provide a more optimized use of power and torque generation in the system.

Returning to FIG. 1 , various embodiments of the positioning device 10 can be configured to perform different applications. Any industry that requires a precise and consistent manufacturing process and/or reduces the possibility of operator stress and injury can employ the positioning device 10 to provide a high degree of operability and precise contact points. In the health industry, for example, the positioning device 10 can be used to manufacture and produce medical devices (e.g., as described herein). In various fields, the positioning device 10 can be used to manufacture and produce mechanical or electronic products and components. In the fashion industry, the positioning device 10 can be used to manufacture and produce high-end jewelry. The positioning device 10 can be used in processes that require precise welding, cutting, assembly, painting, etc. The aforementioned applications are not included, and embodiments of the positioning device 10 can be used for many other applications that are not clearly described. Embodiments of the present device can have varying sizes depending on the scale required for a specific application.

The positioning device may include a tool 80, which is mounted at a position that allows the tool 80 to interact with the workpiece 90 in various working positions and orientations to be achieved. The device 10 includes a tool rotation actuator 182. It should be understood that any suitable type of rotation actuator can be used. The tool rotation actuator 182 can be actuated to rotate the tool 80 around the y-axis 61 (Figures 2, 3), resulting in various possible contact angles between the tool 80 and the workpiece 90. Although this does not generate additional degrees of freedom for movement between the workpiece 90 and the tool 80, the rotating tool 80 can allow contact angles that cannot be obtained by only tilting, rotating, or otherwise moving the workpiece holding unit 70. The tool 80 may include additional components as desired for a specific application. For a specific application of manufacturing a prosthetic heart valve, for example, the tool can be a needle guide, as shown in Figures 7 and 8, and the needle guide positions and orients the needle to the correct entry point and angle for the desired stitch, which will be discussed in further detail below.

The positioning device 10 and its various actuators can be selectively actuated by an external controller and/or other components. The controller can be any suitable type of controller, such as, for example, a programmable logic controller. The positioning device 10 can include a coordinate system to facilitate positioning and orientation of the workpiece 90 and the tool 80 according to defined coordinates.

It should be understood that various embodiments of the present invention may vary in the orientation (e.g., horizontal, vertical, etc.) of the positioning apparatus and its various components (e.g., linear actuators, gear systems, workpiece holding units, workpieces, tools), and any suitable orientation may be used. For example, one embodiment may implement a horizontal orientation, wherein the components are mounted horizontally into a redirecting housing or mounted horizontally directly into a wall or other structure. The orientations of the X, Y, and Z axes referenced herein may be adjusted as desired and needed.

For applications requiring human supervision, the positioning device 10 may include a camera (not shown in FIG. 1 ) for monitoring the work. The camera may be any suitable type of camera and may provide enhanced visibility to the operator. For example, the camera may also be configured to provide remote viewing by an off-site supervisor via a coupled computer via a wired or wireless connection.

In some embodiments, as described herein, the positioning apparatus 10 can be used to manufacture medical devices. In some embodiments, as shown in Figures 7-9, the apparatus 10 can be and/or included in a robotic positioning apparatus 100. During the manufacture of a medical device, for example, the apparatus 10 and/or 100 can facilitate a semi-automatic method of sewing materials onto a prosthetic heart valve and/or other medical device. It should be understood that the assembly of a fabric-covered prosthetic heart valve is an example of the application of the present apparatus, but the present apparatus is not limited to this example. The present apparatus can be used to attach any desired material to a prosthetic heart valve, and can be further used for applications beyond the assembly of a prosthetic heart valve.

In this example (wherein the numbers (e.g., 1xx) in FIGS. 7-9 correspond to similar numbers (e.g., xx) in FIGS. 1-6 ), the apparatus 10 ( FIGS. 1-6 ) and/or the apparatus 100 ( FIGS. 7-9 ) can be configured so that an operator can use the apparatus 100 to begin manufacturing a prosthetic heart valve by attaching a valve base structure or scaffolding 190 to a valve retaining unit 170 of the robotic positioning apparatus 100 and retaining a tubular biocompatible fabric around the valve base structure 190, applying tension to the fabric as necessary to ensure that stitches are properly made. The robotic positioning apparatus 100 can establish a coordinate system. The robotic positioning apparatus 100 can place the valve base structure 190 in an appropriate position and orientation according to the coordinate system, and position and orient a needle guide 180 (e.g., the example of tool 80 shown in FIG. 1 ) so that a suture needle 186 is aligned with an entry point for penetration according to the coordinate system. The needle guide 180 may also be oriented at a specific contact angle relative to the valve base structure 190 to provide precise positioning and orientation for a desired stitch.

The positioning process is performed by the device 100 by selectively actuating various actuators of the robotic positioning device 100 (e.g., as part of the device 10 shown in Figures 1-6). The robotic positioning device 100 and its various actuators can be selectively actuated by an external controller and/or other components. The controller can be any suitable type of controller, such as, for example, a programmable logic controller. The controller can selectively actuate the various actuators in response to various inputs from an operator. The controller can be further programmed to automatically place the valve base structure 190 in a plurality of predetermined positions and orientations, or to follow a template that defines a standardized suture positioning sequence. Such a template can be created by programming the controller to position a progressive series of expected entry points and contact angles.

Once the positioning process is completed, the device 100 is configured so that the operator can pull (push, and/or otherwise move) the sewing needle 186 to the defined penetration point through the needle guide 180. The needle guide 180 is configured to reduce the pressure on the operator, at least because the needle guide 180 is configured so that the operator only needs to move the sewing needle 186 in the axial direction, rather than in the lateral direction. When the operator does this, the device 100 is configured so that the sewing needle 186 releases the needle guide 180, allowing the operator to tighten the stitches. As required, the needle guide 180 can be configured to provide tension to the suture during sewing. After sewing is completed, the device 100 is configured so that the operator can return the sewing needle 186 to the needle guide 180, and the robot positioning device 100 can proceed to the next stitch positioning, thereby preparing for the next stitch. The needle guide 180 can continue to provide tension to the suture if necessary. Once the repositioning process is completed, the operator can complete the next stitch, and the process is repeated as required until the sewing process is completed.

Needle guide 180 is configured to ensure that needle 186 penetrates in a specified position. Needle guide 180 is configured to reduce operator fatigue during the sewing process, because using needle guide 180, the operator only needs to provide linear or axial push to needle 186 to complete sewing. For example, the operator does not need to grasp and pinch needle 186 or manually determine angular motion or lateral motion. Needle guide 180 includes a roller configured to reduce friction and/or resistance, and promotes accurate stitch arrangement and line tension together with tensioner 187 (described below). Needle guide 180 is configured so that needle 186 will not be permanently attached to a moving head (for example, such as a sewing machine), or only manually used. Needle guide 180 and needle 186 are configured so that needle 186 can be repeatedly fully passed through manufacturing (for example, heart valve) assembly, and can be retrieved for the next stitch. As a comparative example, a sewing machine would not be configured in this manner unless a bobbin device was incorporated (which would not be feasible in this heart valve and other examples).

The needle guide 180 has a needle guide rotary actuator 182. It is understood that any suitable type of rotary actuator can be used. The needle guide rotary actuator 182 can be actuated to rotate the needle guide 180 and the sewing needle 186 around the y-axis 61, resulting in various possible contact angles between the sewing needle 186 and the valve base structure 190. The needle guide 180 includes a guide structure 184 that guides the sewing needle 186. The guide structure 184 can be a rail, track, guide roller, guide wheel, tube or any other suitable mechanism. The guide structure 184 can fix the sewing needle 186 until it is used by the operator through friction, lock, or any other suitable mechanism.

A tensioning device 187 incorporating a suture capture and release mechanism can be provided to keep the thread substantially stationary and taut, or to provide a desired amount of tension depending on the application, which can assist in creating a stitch and avoid tangling of the thread, among other advantages. For example, the tensioning device 187 can be a magnetic assembly, a spring assembly, and/or other assemblies. In some embodiments, the tensioning device 187 includes a tensioning device base 188 and a magnetic head 189. The base 188 and the head 189 can be configured so that the tensioning device 187 is used by placing a section of thread behind the tensioning device 187 (relative to the valve base structure 190), inserting the section of thread between the tensioning device base 188 and the magnetic head 189, and tightening the thread. The thread can be tightened in any suitable manner, including manually, such as directly pulling the thread, by winding a spool or thread source, and by moving the suture needle 186, including by using the needle guide 180, the needle guide rotation actuator 182, and the guide structure 184. Whenever desired, the operator can release the tension on the wire by pulling on the wire with sufficient force to allow the wire to be moved between the tensioner base 188 and the magnetic head 189 to the other side of the tensioner 187. The magnetic strength of the magnetic head 189 can be adjusted to determine the amount of force required to allow the wire to move in this manner, thereby allowing the operator to obtain various levels of tension. The magnetic head 189 can be maintained in the correct position (i.e., in a position where the magnetic head 189 maintains magnetic connection with the appropriate part of the tensioner base 188, rather than being displaced to a position that makes the tensioner 187 inoperable) by any number of suitable means, including an anti-displacement flange or anti-displacement cavity on the tensioner base 188, the anti-displacement cavity allowing the magnetic head 189 sufficient range of movement to allow the wire to pass between the magnetic head 189 and the tensioner base 188, but limiting the range of movement so that the magnetic head 189 cannot completely leave the anti-displacement cavity. The structural arrangement of the tensioner 187 promotes effective and precise tension required for a particular stitch or suture.

In some embodiments, the tensioning device 187 can be any other device configured to control tension during sewing (eg, as compared to prior devices that require an operator to manually control tension). In some embodiments, as described above, the tensioning device 187 can be a spring assembly.

In some embodiments, the needle guide 180 and the tensioning device 187 are coupled to the frame 20 via a block member 191 on the frame cover 24, and the block member 191 is configured to support the needle guide 180 and the tensioning device 180. For example, the frame cover 24 and the block member 191 may include corresponding through holes 193 (e.g., which form a hole pattern) and 195. Bolts, screws, nuts, and/or other coupling devices can be used in conjunction with the holes 193 and 195 to couple the block member 191 to the frame cover 24. In some embodiments, a plate 197 can be coupled to the block member 191, and the assembly of the needle guide 180 and/or the tensioning device 187 can be coupled to the plate 197. The plate 197 and the block member 191 can be positioned on a side of the valve base structure 190 (or another workpiece 90-FIG. 1) facing the side 51 of the device 100 (although this is not intended to be limiting). In some embodiments, components of the needle guide 180 (e.g., the rotary actuator 182, the guide structure 184) and/or components of the tensioning device 187 (e.g., the tensioning device base 188, the magnetic head 189, etc.) may extend away from the plate 197 toward the valve base structure 190 (e.g., or another workpiece 90).

In some embodiments, for example, the tensioner base 188 may extend away from the plate 197, and the magnetic head 189 may be located at the end of the tensioner base 188 at or near the valve base structure 190. In some embodiments, the tensioner 187 includes a suture tensioning arm (base) 188 having a magnetic end (magnetic head 189) that can be electrically energized or non-energized. The energized portion allows the option of using an electromagnet, which allows the user to adjust the magnitude of the magnetic force whenever it is desired to change the suture tension. Permanent magnets may also be used. The metal disk may be magnetically attached or attachable to the magnetic end and is configured to allow the suture to be captured at an adjustable specified tension.

FIG. 10 is a schematic diagram of the device 10, 100. As shown in FIG. 10, the device 10, 100 may include a camera 202 (not shown in FIGS. 7-9) for monitoring the work. The camera 202 may be any suitable type of camera. Since each stitch can be checked, the camera 202 may also be used as an amplifier and provide enhanced visibility to the operator. If any stitch should be unsatisfactory, the operator may untie the stitch and program or position the robot positioning device 10, 100 to redo the unsatisfactory stitch before proceeding. For example, the camera 202 may also be configured to provide remote viewing by a remote supervisor through a coupled computer.

In some embodiments, as shown in FIG. 10 (and FIG. 9 ), the device 10, 100 may include a user interface 199. The user interface 199 may be configured to provide an interface between the device 10, 100 and an operator (e.g., a technician, etc.) through which the operator can provide information to and receive information from the device 10, 100. This enables data, cues, results, and/or instructions, and any other communicable items (collectively referred to as “information”) to be communicated between the operator and the device 10, 100. Examples of interface devices suitable for inclusion in the user interface 199 include touch screens, keypads, buttons, switches, keyboards, knobs, joysticks, displays, speakers, microphones, indicator lights, audible alarms, printers, and/or other interface devices. In some embodiments, the user interface 199 includes a plurality of separate interfaces. In some embodiments, the user interface 199 includes at least one interface provided integrally with the frame 20. It should be understood that other communication technologies (hard-wired or wireless) are also contemplated as user interfaces 199 by the present disclosure. For example, the present disclosure contemplates that the user interface 199 may be integrated with a removable memory interface. In this instance, information may be loaded into the device 10, 100 from a removable memory (e.g., a smart card, a flash drive, a removable disk), which enables an operator to customize the implementation of the device 10, 100. Other exemplary input devices and technologies suitable for use as the user interface 199 include, but are not limited to, an RS-232 port, an RF link, an IR link, a modem (telephone, cable or other). In short, any technology for communicating information with the device 10, 100 is contemplated by the present disclosure as a user interface 199. As a non-limiting example, the user interface 199 may be configured to display control fields, spatial information, video information, manufacturing instructions, quality control information, and/or other information.

In some embodiments, the device 10, 100 may include one or more processors 204, electronic storage 206, and/or other components. One or more processors 204 may be configured to provide the information-processing capabilities of the device 10, 100. Thus, the processor 204 may include one or more of a digital processor, an analog processor, a digital circuit designed to process information, an analog circuit designed to process information, a state machine, and/or other mechanisms for electronic processing of information. The processor 204 may be a single entity, or the processor 204 may include multiple processing units. These processing units may be physically located in the same device (e.g., device 10, 100), or the processor 204 may represent the processing functions of multiple devices (e.g., processors included in a remote server, etc.) operating in coordination. One or more processors 204 may run one or more electronic applications with a graphical user interface, which is configured to facilitate an operator to interact with the device 10, 100, control actuators, gears, and/or other mechanisms described herein, and/or perform other operations.

Electronic storage 206 may include electronic storage media that electronically stores information. The electronic storage media may include one or both of a system memory that is provided integrally with device 10, 100 (i.e., substantially non-removable) and/or a removable memory that may be removably connected to device 10, 100 via, for example, a port (e.g., a USB port, a FireWire port) or a drive (e.g., a disk drive). Electronic storage 206 may include one or more of an optically readable storage medium (e.g., an optical disk), a magnetically readable storage medium (e.g., a tape, a magnetic hard drive, a floppy disk drive), a charge-based storage medium (e.g., an EEPROM, a RAM), a solid-state storage medium (e.g., a flash drive), and/or other electronically readable storage medium. Electronic storage 206 may include one or more virtual storage resources (e.g., cloud storage, a virtual private network, and/or other virtual storage resources). Electronic storage 206 may store software algorithms, information determined by a processor (e.g., processor 204), information received from an external source, information input and/or selected via user interface 199, and/or other information that enables device 10, 100 to function as described herein.

Using the robotic positioning apparatus 10, 100 and this semi-automatic method of sewing material onto, for example, a prosthetic heart valve can provide increased precision, consistency, and efficiency while reducing the amount of operator error and operator repetitive stress injuries. In some embodiments, the amount of time required to train an operator to become an expert in prosthetic heart valve production can also be reduced.

FIG. 11 illustrates a method 300 for assembling and/or using a semi-automatic precision positioning robotic device. In some embodiments, the method 300 may include operations associated with using a semi-automatic precision positioning robotic device for heart valve sewing and/or other manufacturing activities. The operations of the method 300 are presented illustratively below. In some embodiments, the method 300 may be performed with one or more additional operations not described and/or without one or more of the operations discussed. In addition, the order in which the operations of the method 300 are illustrated in FIG. 11 and described below is not intended to be limiting.

In operation 302, a gear system may be assembled. In some embodiments, assembling the gear system may include assembling multiple interlocking gear chains, coupling the workpiece holding unit gear to the multiple interlocking gear chains, and/or other operations. For a single interlocking gear chain, assembling the multiple interlocking gear chains may include: providing a rotary actuator, coupling a gear shaft to a rotary actuator, coupling a worm gear to a gear shaft, coupling a worm gear to a worm gear, coupling an end gear to a worm gear, and/or other operations. In some embodiments, the workpiece holding unit gear may be coupled to the end gear of each of the multiple interlocking gear chains. In some embodiments, the end gear of each of the multiple interlocking gear chains is a bevel gear. In some embodiments, the workpiece holding unit gear may be a bevel gear. In some embodiments, operation 302 may be performed with a gear system similar to or identical to gear system 50 (shown in FIGS. 5 and 6 , and described herein).

In operation 304, a workpiece holding unit may be coupled. The workpiece holding unit may be coupled to a workpiece holding unit gear and/or other components. In some embodiments, the gear system is configured to position the workpiece relative to the tool by positioning the workpiece holding unit. The tool may be configured to facilitate the execution of manufacturing operations on the workpiece. In some embodiments, operation 304 may be performed with a workpiece holding unit and/or workpiece holding unit gear similar or identical to the workpiece holding unit 70 and/or bevel gear 72 (shown in FIGS. 5 and 6 , and described herein).

In some embodiments, operation 302 and/or operation 304 may include assembling a support frame. Assembling the support frame may include providing a frame base, coupling a frame pillar to the frame base, coupling a coupled frame cover to the frame pillar, and/or other operations. In some embodiments, operation 302 and/or 304 may include providing a plurality of linear actuators. A single linear actuator may include at least one sliding track, and/or other components. In some embodiments, operation 302 and/or 304 may include fixedly coupling at least one sliding track to the support frame, and coupling a slidable base to at least one sliding track. The slidable base may be configured to actuate to move along at least one sliding track. The slidable base may have at least one movable platform receiving slot. For example, at least one movable platform receiving slot may extend in the slidable base in a direction angled away from the sliding track. In some embodiments, operation 302 and/or 304 may include coupling a movable platform to a plurality of linear actuators; and coupling a gear system to the movable platform.

In operation 306, the tool may be assembled. Assembling the tool may include coupling a needle guide, a tensioner, and/or other components to a semi-automatic precision positioning robot device. The needle guide and the tensioner may be configured to facilitate sewing in various applications, for example, sewing associated with a medical device (such as a heart valve). In some embodiments, assembling the needle guide may include coupling a rotary actuator to a semi-automatic precision positioning robot device. The rotary actuator may be configured to rotate the needle guide relative to a workpiece holding unit. Assembling the needle guide may include coupling a guide structure to the rotary actuator. The guide structure may be configured to removably receive a sewing needle and guide the sewing needle to a predetermined position on the medical device. In some embodiments, assembling the tensioner includes coupling a magnetic head to a substrate, and coupling the substrate to a semi-automatic precision positioning robot. The magnetic head may be configured to be removably coupled to a stitching thread. The substrate may be configured to position the magnetic head near the needle guide and the workpiece holding unit. In some embodiments, operation 306 can be performed using a needle guide and tensioning device similar to or the same as needle guide 180 and tensioning device 187 (shown in FIGS. 7 and 8 , and described herein).

At operation 308, the semi-automatic precision positioning robotic device may be used for heart valve sewing and/or other operations. Operation 308 may include providing a guide structure as part of a needle guide, and positioning the workpiece (e.g., valve) holding unit relative to the needle guide by actuating a plurality of linkage gear chains to rotate or move the workpiece (valve) holding unit (bevel) gear. Operation 308 may include aligning a needle held by the needle guide to a stitch point on a heart valve held by the workpiece (valve) holding unit by actuating a plurality of linkage gear chains; and guiding the completion of the stitch of the heart valve with the needle guide. Operation 308 may include positioning the workpiece (valve) holding unit by actuating at least one of a plurality of linear actuators so that at least one of a plurality of slidable bases moves in a direction along a sliding track to position the workpiece (valve) holding unit. Operation 308 may include tensioning the suture thread with a tensioning device of the semi-automatic precision positioning robotic device so that the thread has a desired amount of tension. In some embodiments, operation 308 may include determining a coordinate system, and one or both of the following: (1) positioning the workpiece (valve) holding unit relative to the needle guide by actuating a plurality of linkage gear chains to rotate or move the workpiece (valve) holding unit (bevel) gear based on the coordinate system; and (2) aligning the needle held by the needle guide to the stitch point on the heart valve held by the workpiece (valve) holding unit by actuating a plurality of linkage gear chains based on the coordinate system. In some embodiments, operation 308 includes displaying one or more images of stitch points and/or other locations on the heart valve (or any other workpiece) on a display of a semi-automatic precision positioning robotic device. In some embodiments, operation 308 may be performed by a system similar or identical to system 10 and/or system 100 (shown in FIGS. 1-10 and described herein).

FIG. 12A illustrates a perspective view of an embodiment of the robotic positioning apparatus 10, 100. FIG. 12B illustrates a top view of this embodiment of the robotic positioning apparatus 10, 100. FIG. 12A and 12B are presented to compliment the previous figures described herein. FIG. 12A and/or FIG. 12B illustrate various components of the apparatus 10, 100, including the support frame 20, the frame base 22, the frame cover 24, the frame struts 26, 28, the linear actuator 30, the slide rail 32, the slidable base 34, and/or other components. FIG. 12A and/or FIG. 12B illustrate the relative positioning of the gear system 50, the interlocking gear chain 55, the rotary actuator 60, the gear shaft 62, the worm gear 64, the worm gear 66, the bevel gear 68, the workpiece holding unit 70, the bevel gear 72, and/or other components. FIG. 12A and 12B also illustrate the ends 41, 45, 51, and 53.

It will be understood that the various and other features and functions disclosed above or their replacements may be desirably combined into many other different systems or applications. Moreover, various currently unforeseeable or unforeseen replacements, modifications, changes or improvements therein may be made subsequently by those skilled in the art, and are also intended to be covered by the following claims.

Although the above description refers to a particular embodiment, it will be appreciated that many modifications may be made without departing from the spirit thereof. The appended claims are intended to cover such modifications as would fall within the scope and spirit of the embodiments herein.

The presently disclosed embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. All changes coming within the meaning and equivalency range of the claims are intended to be embraced therein.

The present technology will be better understood with reference to the following enumerated embodiments:

1. A semi-automatic precision positioning robot device, comprising: a gear system, the gear system comprising: a plurality of interlocking gear chains; a workpiece holding unit gear, wherein the workpiece holding unit gear is coupled to the plurality of interlocking gear chains; and a workpiece holding unit, wherein the workpiece holding unit is coupled to the workpiece holding unit gear; wherein the gear system is configured to position a workpiece relative to a tool by positioning the workpiece holding unit, and the tool is configured to facilitate the execution of a manufacturing operation on the workpiece.

2. The apparatus of embodiment 1, further comprising a tool comprising a needle guide and a tensioning device configured to facilitate suturing.

3. The apparatus of embodiment 2, wherein the tool is configured to facilitate sewing associated with a medical device.

4. An apparatus according to embodiment 2 or 3, wherein the needle guide comprises: a rotary actuator configured to rotate the needle guide relative to a workpiece holding unit; and a guide structure configured to removably receive a suture needle and guide the suture needle to a predetermined position on the medical device; and wherein the tensioning device comprises: a magnetic head configured to be removably coupled to a suture thread; and a base configured to position the magnetic head near the needle guide and the workpiece holding unit.

5. An apparatus according to any one of embodiments 1 to 4, wherein a plurality of interlocking gear chains individually comprise: a rotary actuator; a gear shaft, wherein the gear shaft is coupled to the rotary actuator; a worm wheel, wherein the worm wheel is coupled to the gear shaft; a worm gear, wherein the worm gear is coupled to the worm wheel; and an end gear, wherein the end gear is coupled to the worm gear; wherein the workpiece holding unit gear is coupled to the end gear of each of the plurality of interlocking gear chains.

6. The apparatus of embodiment 5, wherein the end gear further comprises a bevel gear.

7. The apparatus of any one of embodiments 1-6, wherein the workpiece holding unit gear further comprises a bevel gear.

8. The device of any one of embodiments 1-7 further includes: a support frame, wherein the support frame further includes: a frame base, a frame column coupled to the frame base, and a frame cover coupled to the frame column; a plurality of linear actuators, wherein a single linear actuator includes: at least one sliding track, wherein at least one sliding track is fixedly coupled to the support frame; and a slidable base, which is configured to actuate to move along at least one sliding track, wherein the slidable base has at least one movable platform receiving groove, and at least one movable platform receiving groove extends in the slidable base in an angled direction away from the sliding track; and a movable platform, which is coupled to the plurality of linear actuators, wherein the gear system is coupled to the movable platform.

9. A method for assembling a semi-automatic precision positioning robot device, the method comprising: assembling a gear system, assembling the gear system comprising: assembling a plurality of interlocking gear chains; and coupling a workpiece holding unit gear to the plurality of interlocking gear chains; and coupling the workpiece holding unit to the workpiece holding unit gear; wherein the gear system is configured to position a workpiece relative to a tool by positioning the workpiece holding unit, and the tool is configured to facilitate the execution of manufacturing operations on the workpiece.

10. The method of embodiment 9, further comprising assembling a tool, the assembling tool comprising assembling a needle guide and a tensioning device, and coupling the needle guide and the tensioning device to a semi-automatic precision positioning robotic device,

11. The method of embodiment 10, wherein the needle guide and the tensioning device are configured to facilitate suturing associated with a medical device.

12. The method of embodiment 10 or 11 further includes assembling a needle guide and a tensioning device, wherein assembling the needle guide includes: coupling a rotary actuator to a semi-automatic precision positioning robot device, the rotary actuator being configured to rotate the needle guide relative to a workpiece holding unit; and coupling a guide structure to the rotary actuator, the guide structure being configured to removably receive a suture needle and guide the suture needle to a predetermined position on the medical device; and wherein assembling the tensioning device includes: coupling a magnetic head to a base, and coupling the base to a semi-automatic precision positioning robot, the magnetic head being configured to be removably coupled to a suture thread; and the base being configured to position the magnetic head near the needle guide and the workpiece holding unit.

13. A method according to any one of embodiments 9 to 12, wherein assembling a plurality of interlocking gear chains comprises, for a single interlocking gear chain: providing a rotary actuator, coupling a gear shaft to the rotary actuator, coupling a worm wheel to the gear shaft, coupling a worm gear to the worm wheel, and coupling an end gear to the worm gear; wherein the workpiece holding unit gear is coupled to the end gear of each of the plurality of interlocking gear chains.

14. The method of embodiment 13, wherein the end gear comprises a bevel gear.

15. The method of any one of embodiments 9-14, wherein the workpiece holding unit gear further comprises a bevel gear.

16. The method of any one of embodiments 9-15 further includes: assembling a support frame, wherein assembling the support frame includes: providing a frame base, coupling frame pillars to the frame base, and coupling a frame cover to the frame pillars; providing a plurality of linear actuators, wherein a single linear actuator includes: at least one sliding track; fixedly coupling at least one sliding track to the support frame; coupling a slidable base to at least one sliding track, the slidable base being configured to actuate to move along at least one sliding track, wherein the slidable base has at least one movable platform receiving slot, and at least one movable platform receiving slot extends in the slidable base in an angled direction away from the sliding track; coupling the movable platform to a plurality of linear actuators; and coupling a gear system to the movable platform.

17. A method for using a semi-automatic precision positioning robotic device for sewing heart valves, comprising: providing a semi-automatic precision positioning robotic device including a gear system, wherein the gear system includes: a plurality of interlocking gear chains, and a valve holding unit bevel gear, wherein the valve holding unit bevel gear is coupled to the plurality of interlocking gear chains; coupling the valve holding unit to the valve holding unit bevel gear; providing a needle guide, wherein the needle guide includes a needle guide rotation actuator and a guide structure; positioning the valve holding unit relative to the needle guide by actuating the plurality of interlocking gear chains to rotate or move the valve holding unit bevel gear; aligning the needle held by the needle guide to the stitch point on the heart valve held by the valve holding unit by actuating the plurality of interlocking gear chains; and guiding the completion of the stitching of the heart valve with the needle guide.

18. The method of embodiment 17, wherein the semi-automatic precision positioning robotic device comprises: a support frame, wherein the support frame further comprises: a frame base, a frame column coupled to the frame base, and a frame cover coupled to the frame column; a plurality of linear actuators, wherein the plurality of linear actuators further comprise: a sliding track, wherein the sliding track is fixedly attached to the support frame and a plurality of slidable bases, the plurality of slidable bases can be actuated to move along the sliding track, wherein the plurality of slidable bases have at least one movable platform receiving slot; and a movable platform, the movable platform having at least one connecting portion received by at least one movable platform receiving slot, wherein a gear system is mounted on the movable platform; wherein the method further comprises: positioning the valve holding unit by actuating at least one of the plurality of linear actuators, wherein at least one of the plurality of slidable bases moves in a direction along the sliding track to position the valve holding unit; and coupling the needle guide to the support frame.

19. The method of any one of embodiments 17-18, further comprising: tensioning the suture thread with a tensioning device of a semi-automatic precision positioning robotic apparatus such that the thread has a desired amount of tension.

20. The method of embodiment 19, wherein the tensioning device comprises: a suture tensioning arm having a magnetic end; and a metal disk magnetically attachable to the magnetic end.

21. The method of any one of embodiments 17-20 further includes determining a coordinate system, and one or both of the following: (1) positioning the valve holding unit relative to the needle guide by actuating multiple interlocking gear chains to rotate or move the valve holding unit bevel gear based on the coordinate system; and (2) aligning the needle held by the needle guide to a trace point on the heart valve held by the valve holding unit by actuating multiple interlocking gear chains based on the coordinate system.

22. The method of any one of embodiments 17-21, further comprising displaying one or more images of stitch points on the heart valve on a display of the semi-automatic precision positioning robotic device.

Claims (18)

1. A semi-automatic precision positioning robot device, comprising: a gear system, wherein the gear system comprises: Multiple linkage gear chains; a workpiece holding unit gear, wherein the workpiece holding unit gear is coupled to the plurality of interlocking gear chains; and a workpiece holding unit, wherein the workpiece holding unit is coupled to the workpiece holding unit gear; wherein the gear system is configured to position a workpiece relative to a tool by positioning the workpiece holding unit, the tool being configured to facilitate performance of a manufacturing operation on the workpiece, wherein the tool comprises a needle guide and a tensioning device configured to facilitate suturing, The needle guide comprises: a rotary actuator configured to rotate the needle guide relative to the workpiece holding unit; and a guide structure configured to removably receive a suture needle and guide the suture needle to a predetermined position on the medical device; and The tensioning device comprises: a magnetic head configured to be removably coupled to a suture; and A base is configured to position the magnetic head near the needle guide and the workpiece holding unit. 2. The semi-automatic precision positioning robotic apparatus of claim 1, wherein the tool is configured to facilitate sewing associated with a medical device. 3. The semi-automatic precision positioning robot device according to claim 1, wherein The plurality of linkage gear chains individually include: Rotary actuator, a gear shaft, wherein the gear shaft is coupled to the rotary actuator, a worm gear, wherein the worm gear is coupled to the gear shaft, a worm gear, wherein the worm gear is coupled to the worm wheel, and an end gear, wherein the end gear is coupled to the worm gear; The workpiece holding unit gear is coupled to the end gear of each of the plurality of interlocking gear chains. 4. The semi-automatic precision positioning robotic apparatus of claim 3, wherein the end gear further comprises a bevel gear. 5 . The semi-automatic precision positioning robot apparatus according to claim 1 , wherein the workpiece holding unit gear further comprises a bevel gear. 6. The semi-automatic precision positioning robot device according to claim 1, further comprising: A support frame, wherein the support frame further comprises: Frame base, a frame support column coupled to the frame base, and a frame cover coupled to the frame support; A plurality of linear actuators, wherein a single linear actuator comprises: at least one sliding track, wherein the at least one sliding track is fixedly coupled to the support frame; and a slidable base configured to be actuated to move along the at least one slide track, wherein the slidable base has at least one movable platform receiving slot extending within the slidable base in an angled direction away from the slide track; and A movable platform is coupled to the plurality of linear actuators, wherein the gear system is coupled to the movable platform. 7. A method for assembling a semi-automatic precision positioning robot device, the method comprising: Assembling a gear system, assembling the gear system comprises: Assemble multiple interlocking gear chains; and coupling the workpiece holding unit gear to the plurality of linkage gear chains; and coupling a workpiece holding unit to the workpiece holding unit gear; wherein the gear system is configured to position a workpiece relative to a tool by positioning the workpiece holding unit, the tool being configured to facilitate performance of a manufacturing operation on the workpiece; wherein the method further comprises assembling the tool, assembling the tool comprises assembling a needle guide and a tensioning device, and coupling the needle guide and the tensioning device to the semi-automatic precision positioning robotic device, the needle guide and the tensioning device being configured to facilitate suturing; wherein the method further comprises assembling the needle guide and the tensioning device; Wherein assembling the needle guide comprises: coupling a rotary actuator to the semi-automatic precision positioning robotic apparatus, the rotary actuator being configured to rotate the needle guide relative to the workpiece holding unit; and coupling a guide structure to the rotary actuator, the guide structure being configured to removably receive a suture needle and guide the suture needle to a predetermined position on a medical device; and Wherein assembling the tensioning device comprises: coupling the magnetic head to the substrate, and The base is coupled to the semi-automatic precision positioning robot, the magnetic head is configured to be removably coupled to a suture; and the base is configured to position the magnetic head near the needle guide and the workpiece holding unit. 8. The method of claim 7, wherein the needle guide and the tensioning device are configured to facilitate suturing associated with a medical device. 9. The method according to claim 7, wherein for a single interlocking gear chain system, assembling the plurality of interlocking gear chains comprises: Providing a rotary actuator, coupling the gear shaft to the rotary actuator, coupling a worm gear to the gear shaft, coupling a worm gear to the worm wheel, and coupling an end gear to the worm gear; The workpiece holding unit gear is coupled to the end gear of each of the plurality of interlocking gear chains. 10. The method of claim 9, wherein the end gears comprise bevel gears. 11. The method of claim 7, wherein the workpiece holding unit gear further comprises a bevel gear. 12. The method according to claim 7, further comprising: Assembling a support frame, wherein assembling the support frame comprises: Provide a frame base, coupling frame posts to the frame base, and coupling a frame cover to the frame support; A plurality of linear actuators are provided, wherein a single linear actuator comprises: at least one sliding track; fixedly coupling the at least one sliding track to the support frame; coupling a slidable base to the at least one slide track, the slidable base being configured to be actuated to move along the at least one slide track, wherein the slidable base has at least one movable platform receiving slot extending within the slidable base in an angled direction away from the slide track; coupling a movable platform to the plurality of linear actuators; and The gear system is coupled to the movable platform. 13. A method for using the semi-automatic precision positioning robot device according to any one of claims 1 to 6 for heart valve sewing, comprising: A semi-automatic precision positioning robot apparatus is provided, comprising a gear system, wherein the gear system comprises: Multiple interlocking gear chains, and A valve holding unit bevel gear, wherein the valve holding unit bevel gear is coupled to the plurality of linkage gear chains; coupling the valve holding unit to the valve holding unit bevel gear; Providing a needle guide, wherein the needle guide comprises a needle guide rotation actuator and a guide structure; Positioning the valve holding unit relative to the needle guide by actuating the plurality of linkage gear chains to rotate or move the valve holding unit bevel gear; Aligning the needle held by the needle guide to a stitch point on the heart valve held by the valve holding unit by actuating the plurality of linkage links; and The needle introducer is used to guide the completion of the stitching of the heart valve. 14. The method according to claim 13, wherein the semi-automatic precision positioning robot device comprises: A support frame, wherein the support frame further comprises: Frame base, a frame support column coupled to the frame base, and a frame cover coupled to the frame support; A plurality of linear actuators, wherein the plurality of linear actuators further comprises: a sliding track, wherein the sliding track is fixedly attached to the support frame, and a plurality of slidable bases that can be actuated to move along the slide track, wherein the plurality of slidable bases have at least one movable platform receiving slot; and a movable platform having at least one connecting portion received by the at least one movable platform receiving slot, wherein the gear system is mounted on the movable platform; Wherein the method further comprises: Positioning the valve holding unit by actuating at least one of the plurality of linear actuators, wherein at least one of the plurality of slidable bases moves in a direction along the sliding track to position the valve holding unit; and The needle guide is coupled to the support frame. 15. The method according to claim 13, further comprising: The suture thread is tensioned using the tensioning device of the semi-automatic precision positioning robotic apparatus so that the thread has a desired amount of tension. 16. The method of claim 15, wherein the tensioning device comprises: a suture tensioning arm having a magnetic end; and A metal disk is magnetically attachable to the magnetic end. 17. The method of claim 13, further comprising determining a coordinate system, and one or both of the following: (1) positioning the valve holding unit relative to the needle guide by actuating the plurality of linkage gear chains to rotate or move the valve holding unit bevel gear based on the coordinate system; and (2) Based on the coordinate system, the needle held by the needle guide is aligned to the stitch point on the heart valve held by the valve holding unit by actuating the multiple linkage gear chains. 18. The method of claim 13, further comprising displaying one or more images of the stitch points on the heart valve on a display of the semi-automatic precision positioning robotic device.